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针对参数大范围变化且具有耦合作用和外部干扰的SSB滚转通道姿态控制问题,给出一种SSB滚转通道改进型主导极点配置控制系统设计方法。首先,通过增加前置滤波器,给出一种改进型主导极点配置PID控制器设计方法,实现精确主导极点配置。其次,采用系数冻结线性化方法,在SSB飞行包线中选取若干具有代表性的特征点构建局部子系统。应用给出的主导极点配置PID控制器设计方法,分别设计局部子前置滤波器和子PID控制器。最后采用一种平滑变增益方法,设计出全局时变前置滤波器和PID控制器。真实SSB模型数值仿真结果表明,所设计的SSB滚转通道系统性能满足预期要求,所给出的方法是有效的。
In order to solve the problem of SSB roll path attitude control with wide range of changes and coupling and external disturbances, a design method of SSB roll path-oriented dominant pole placement control system is proposed. First of all, by adding a prefilter, an improved design method of the dominant pole configuration PID controller is given, and the precise dominant pole configuration is achieved. Secondly, by using the coefficient freezing linearization method, several representative feature points are selected from the SSB flight envelope to construct the local subsystem. The main poles of the PID controller design method are given. The partial sub-prefilter and sub-PID controller are designed respectively. Finally, a smooth variable gain method is used to design a global time-varying prefilter and a PID controller. The simulation results of the real SSB model show that the performance of the designed SSB rolling tunnel system meets the expected requirements and the proposed method is effective.